{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:CWC7U53R3NQLEKBZHZ3QYHYXJL","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"a8feef5b6d743dc8c82f479f91d64abfa653aaa1ffe351e3db5d9d89a29b10a4","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2018-11-27T00:18:18Z","title_canon_sha256":"db6e522eea8cc9b007b0f36d251403828f0d05db86f9876ca95ee083ba00604b"},"schema_version":"1.0","source":{"id":"1811.10753","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1811.10753","created_at":"2026-07-05T02:34:59Z"},{"alias_kind":"arxiv_version","alias_value":"1811.10753v2","created_at":"2026-07-05T02:34:59Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1811.10753","created_at":"2026-07-05T02:34:59Z"},{"alias_kind":"pith_short_12","alias_value":"CWC7U53R3NQL","created_at":"2026-07-05T02:34:59Z"},{"alias_kind":"pith_short_16","alias_value":"CWC7U53R3NQLEKBZ","created_at":"2026-07-05T02:34:59Z"},{"alias_kind":"pith_short_8","alias_value":"CWC7U53R","created_at":"2026-07-05T02:34:59Z"}],"graph_snapshots":[{"event_id":"sha256:2e6c014b36feba150cc4238f0489c619f3184a6e4fd83c6177eafe84fe29ca47","target":"graph","created_at":"2026-07-05T02:34:59Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/1811.10753/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We present an efficient optimization framework that solves trajectory optimization problems by decoupling state variables from timing variables, thereby decomposing a challenging nonlinear programming (NLP) problem into two easier subproblems. With timing fixed, the state variables can be optimized efficiently using convex optimization, and the timing variables can be optimized in a separate NLP, which forms a bilevel optimization problem. The challenge of obtaining the gradient of the timing variables is solved by sensitivity analysis of parametric NLPs. The exact analytic gradient is compute","authors_text":"Gao Tang, Kris Hauser, Weidong Sun","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2018-11-27T00:18:18Z","title":"Fast UAV Trajectory Optimization using Bilevel Optimization with Analytical Gradients"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1811.10753","kind":"arxiv","version":2},"verdict":{"created_at":null,"id":null,"model_set":{},"one_line_summary":"","pipeline_version":null,"pith_extraction_headline":"","strongest_claim":"","weakest_assumption":""}},"verdict_id":null}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:f6376d0ce55fc84f916195199c69e6b7c5b169550fe23c5e4d4444b19aee73a5","target":"record","created_at":"2026-07-05T02:34:59Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"metadata":{"abstract_canon_sha256":"a8feef5b6d743dc8c82f479f91d64abfa653aaa1ffe351e3db5d9d89a29b10a4","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2018-11-27T00:18:18Z","title_canon_sha256":"db6e522eea8cc9b007b0f36d251403828f0d05db86f9876ca95ee083ba00604b"},"schema_version":"1.0","source":{"id":"1811.10753","kind":"arxiv","version":2}},"canonical_sha256":"1585fa7771db60b228393e770c1f174ad12bc759267d08325069ad4d77c39137","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"1585fa7771db60b228393e770c1f174ad12bc759267d08325069ad4d77c39137","first_computed_at":"2026-07-05T02:34:59.913607Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T02:34:59.913607Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"d5oGLaX3qOtEC0ecLEZUGvYoflRZfyiqWZV4lcxOYoAY8xMsAQuBrUIlhFYyTyDirDgqOzRyBTb5/Swp4ONBBQ==","signature_status":"signed_v1","signed_at":"2026-07-05T02:34:59.913965Z","signed_message":"canonical_sha256_bytes"},"source_id":"1811.10753","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f6376d0ce55fc84f916195199c69e6b7c5b169550fe23c5e4d4444b19aee73a5","sha256:2e6c014b36feba150cc4238f0489c619f3184a6e4fd83c6177eafe84fe29ca47"],"state_sha256":"cf9d5f4261c8cc8a8f67cb652bd6ad9c0ac7e5e43d60ac5ca16c1181193cbbc0"}